# 0 = no, 1 = yes
bool use_left_arm
bool use_right_arm

# 0 = cartesian, 1 = joint space
# Determines if DMP is in cartesian or joint space
bool cart_or_joint

# If cartesian, base frame that DMP operates in
string base_frame

# If only one arm is being used, the data structures for the other arm will be ignored
# If cartesian, data should be in order: 
# trans_x, trans_y, trans_z, quat_w, quat_x, quat_y, quat_z  
# If joint space, data should be in order: 
# shoulder_pan_joint, shoulder_lift_joint, upper_arm_roll_joint, elbow_flex_joint, forearm_roll_joint, wrist_flex_joint, wrist_roll_joint

DMPData[7] left_dmps
DMPData[7] right_dmps

float64[7] left_goal
float64[7] right_goal

float64 tau 
